Research on the Dynamics and Control of Soft Robotics

Unlike conventional robots, which are composed of rigid structures, precise and powerful motors, and intricately coded control programs, soft robots feature sustainable, viscoelastic body structures. While they may lack precision, soft robots are capable of delicately adapting to unknown or dynamically changing environments—areas that have traditionally been difficult for humans and conventional robots to access. This unique adaptability requires a new type of control programming that is distinct from traditional approaches and emphasizes ease of maintenance. However, achieving this demands a fundamentally different architecture and the development of complex mathematical models.

In addition, when designing and controlling soft robotic systems for environments such as space or other celestial bodies—where low-oxygen or vacuum conditions mean that air damping effects can hardly be expected—any vibrations that arise may persist for extended periods due to the lack of natural attenuation. This results in long idling times and reduced operational efficiency. Our research focuses on predicting such vibrations and developing control methods that prevent their occurrence.

Experiment of circular trajectory control of a flexible manipulator